Merge branch 'shooter-calcs' into week-0-comp

diff --cc src/main/java/frc/robot/commands/gpm/Superstructure.java
index dfb0ba9cb4e14f13fc3824fca25c429b84b3762d,9dc27f12a9e74394e4f3a8ae74d25a56f5ea0724..9567be4e680750e073ca47c8f233181e308a6e8e
--- 1/src/main/java/frc/robot/commands/gpm/Superstructure.java
--- 2/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@@ -27,8 -25,7 +25,8 @@@ import frc.robot.subsystems.spindexer.S
  import frc.robot.subsystems.turret.Turret;
  import frc.robot.subsystems.turret.TurretConstants;
  import frc.robot.util.PhaseManager;
- import frc.robot.util.ShooterPhysics;
 +import frc.robot.util.PhaseManager.CurrentState;
+ import frc.robot.util.ShooterPhysics;
  import frc.robot.util.ShooterPhysics.Constraints;
  import frc.robot.util.ShooterPhysics.TurretState;
  
@@@ -117,12 -115,13 +116,14 @@@ public class Superstructure extends Com
                  target == FieldConstants.getHubTranslation().toTranslation2d() ?
                  FieldConstants.getHubTranslation().getZ() : 0.0); // Height of 0 if it's not the hub
  
-             goalState = ShooterPhysics.getShotParams(
+             var goalStateWithT = ShooterPhysics.getShotParamsWithT(
+                                       Translation2d.kZero,
                                target3d.minus(lookahead3d),
 -                              2.0);
 +                target == FieldConstants.getHubTranslation().toTranslation2d() ?
 +                              2.0 : 3.0);
+                       goalState = goalStateWithT.getFirst();
  
-             timeOfFlight = goalState.timeOfFlight();
+             timeOfFlight = goalStateWithT.getSecond();
              double offsetX = turretVelocityX * timeOfFlight;
              double offsetY = turretVelocityY * timeOfFlight;
              lookaheadPose =

diff --cc src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index dd5e1710d85037315374f79fb297401929b1fd74,419f0f9aac03d52680178e72015bb61e1e2babf9..2597c8c11edc2dcef6a0828559f7dc7989f48c0f
--- 1/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
--- 2/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@@ -18,7 -16,9 +18,10 @@@ import frc.robot.commands.gpm.IntakeMov
  import frc.robot.commands.gpm.ReverseMotors;
  import frc.robot.constants.Constants;
  import frc.robot.subsystems.Climb.LinearClimb;
+ import frc.robot.subsystems.Intake.Intake;
  import frc.robot.subsystems.drivetrain.Drivetrain;
+ import frc.robot.subsystems.hood.Hood;
++import frc.robot.subsystems.hood.HoodConstants;
  import frc.robot.subsystems.shooter.Shooter;
  import frc.robot.subsystems.spindexer.Spindexer;
  import frc.robot.subsystems.turret.Turret;